Hi
I have know for some time been trying to get my old launch files for my path_planning project to work with the new Fastbot without luck.
I have earlier been testing these packages on TurtleBot and they work fine, as well as in Gazebo simulations.
When going to Fastbot I understand that there are some changes that is needed due to different robot, eg. controlling the robot using joystick or teleop seems much more unstable, as the robot moves very sporatic to these commands, and when turning there seems to be a huge delay.
Also the TF frames are renamed as I can see, so odom becomes fastbot_odom etc.
I tried to adapt these changes into my launch file as follows:
# === Declare launch arguments ===
use_sim_time = LaunchConfiguration('use_sim_time')
robot_prefix = LaunchConfiguration('robot_prefix')
declare_use_sim_time = DeclareLaunchArgument(
'use_sim_time',
default_value='true', # set default simulation time mode
description='Use simulation (Gazebo) clock if true'
)
declare_robot_prefix = DeclareLaunchArgument(
'robot_prefix',
default_value='',
description='Prefix for robot TF frames (e.g. fastbot)'
)
# === TF remappings ===
# Converts fastbot_odom -> odom, etc.
remappings = [
([robot_prefix, '_odom'], '/odom'),
([robot_prefix, '_base_link'], '/base_link'),
([robot_prefix, '_map'], '/map'),
([robot_prefix, '_tf'], '/tf'),
([robot_prefix, '_tf_static'], '/tf_static'),
]
.....
return LaunchDescription([
declare_use_sim_time,
declare_robot_prefix,
amcl_include,
controller_server_node,
planner_server_node,
behavior_server_node,
bt_navigator_node,
lifecycle_manager_node,
#rviz_node, # uncomment to start RViz automatically
])
This did not fix the issues, and map and odom frames are not connected.
What I am requesting is a complete guide on how to transistion from TurtleBot to FastBot, as Fastbot seems to require much more changing on the launch files etc. going from simulator to real robot.
I imagine that this is something that is general for all course participants, not just me.